CN109533051B - Convertible stair climbing robot with collapsible swing arm - Google Patents
Convertible stair climbing robot with collapsible swing arm Download PDFInfo
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- CN109533051B CN109533051B CN201811445798.5A CN201811445798A CN109533051B CN 109533051 B CN109533051 B CN 109533051B CN 201811445798 A CN201811445798 A CN 201811445798A CN 109533051 B CN109533051 B CN 109533051B
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- 230000009194 climbing Effects 0.000 title claims abstract description 11
- 230000007306 turnover Effects 0.000 claims abstract description 41
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 88
- 229910052742 iron Inorganic materials 0.000 claims description 41
- 230000006835 compression Effects 0.000 claims description 20
- 238000007906 compression Methods 0.000 claims description 20
- 230000000903 blocking effect Effects 0.000 claims description 9
- 230000009471 action Effects 0.000 claims description 8
- 238000001514 detection method Methods 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 235000000396 iron Nutrition 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/04—Endless track vehicles with tracks and alternative ground wheels, e.g. changeable from endless track vehicle into wheeled vehicle and vice versa
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Abstract
The invention discloses a turnover stair climbing robot with a foldable swing arm, belonging to the technical field of detection, search and rescue and exploration robots, comprising: the device comprises a wheel type moving platform, a swing arm, a turnover shaft, a driving wheel, a driven wheel and a turnover motor; the turning motor is arranged in the wheel type moving platform, and an output shaft of the turning motor is coaxially fixed with a driving wheel; the turning shaft is arranged on the wheel type moving platform, a driven wheel is coaxially fixed in the middle of the turning shaft, and the driven wheel is meshed with the driving wheel; two ends of the turnover shaft are respectively provided with two swing arms with the same structure, the two swing arms are respectively positioned on two sides of the wheel type moving platform along the walking direction, and the swing arms can be folded; the invention can overcome the problems that the swing arm of the existing turnover type robot can not be folded, so that the swing arm can not be used in throwing and the portability is poor.
Description
Technical Field
The invention belongs to the technical field of detection, search and rescue and exploration robots, and particularly relates to a turnover stair climbing robot with a foldable swing arm.
Background
The micro-miniature turnover stair climbing robot can climb over obstacles such as stairs, ruins and the like, has small volume and mass, and has obvious advantages in the fields of detection, search and rescue, detection and the like. In order to realize the turning motion of the robot, a rotary swing arm component of the microminiature turning stair-climbing robot is indispensable. The swing arm of the existing turnover Stair Climbing robot is an outwards extending cantilever beam scheme and cannot be folded, for example, the patent CN104647343, the paper FlipBot, A New Field Robotic Platform for fast Stable robot, and the like. Therefore, the throwing deployment mode cannot be finished, and the swing arm extends outwards, so that the size of the robot is increased, and the portability is reduced.
Disclosure of Invention
In view of the above, the invention provides a turnover stair climbing robot with a foldable swing arm, which can overcome the problems that the swing arm of the existing turnover robot is not foldable, so that the robot cannot be used in throwing and has poor portability.
The invention is realized by the following technical scheme:
a convertible stair climbing robot with a foldable swing arm, comprising: the device comprises a wheel type moving platform, a swing arm, a turnover shaft, a driving wheel, a driven wheel and a turnover motor;
the turning motor is arranged in the wheel type moving platform, and an output shaft of the turning motor is coaxially fixed with a driving wheel;
the turning shaft is arranged on the wheel type moving platform, a driven wheel is coaxially fixed in the middle of the turning shaft, and the driven wheel is meshed with the driving wheel; two ends of the turnover shaft are respectively provided with two swing arms with the same structure, the two swing arms are respectively positioned on two sides of the wheel type moving platform along the walking direction, and the swing arms can be folded;
when the swing arm is in a folded state, the swing arm is folded at two sides of the wheel type moving platform;
when the swing arms are in an unfolding state, the swing arms form a rod-shaped structure, the top ends of the two swing arms are abutted to the ground under the action of the overturning motor, and the two swing arms drive the wheel type moving platform to overturn by taking contact points of the two swing arms and the ground as a rotating center.
Further, the swing arm includes: the device comprises cross folding rods, shaft end blocking irons, outer swing arm rods, inner support arm rods, compression springs and spring baffles;
both ends of the turnover shaft are processed into waist-shaped column structures;
the shaft end choke is of a columnar structure with a waist-shaped cross section, a waist-shaped blind hole with the same waist-shaped columnar structure as the overturning shaft is processed at one end of the shaft end choke, and an annular limiting table extends out of the end face of the other end of the shaft end choke and is used for axially limiting an outer swing arm shaft arranged on the shaft end choke; the waist-shaped blind hole of the shaft end choke is matched with the waist-shaped column structure at the end part of the turnover shaft;
the outer swing arm rod consists of a circular ring and a first connecting rod which is integrally formed on the outer circumferential surface of the circular ring; the inner circumferential surface of the circular ring is provided with two opposite plane bosses, so that a waist-shaped through hole with the same shape as the shaft end choke iron is formed in an inner hole of the circular ring; the outer swing arm rod is sleeved on the shaft end iron resistor through the waist-shaped through hole;
the inner support arm rod consists of a cylinder and a second connecting rod integrally formed on the outer circumferential surface of the cylinder; one end of an inner hole of the cylinder is a round hole with the same diameter as the overturning shaft, the other end of the inner hole of the cylinder is a waist-shaped hole with the same shape as the appearance of the shaft end choke, the round hole is communicated with the waist-shaped hole, and the diameter of the round hole is smaller than that of a circle where the waist-shaped hole is located; an annular boss extends from the end face of the cylinder where the waist-shaped hole is located, and the second connecting rod is arranged on the outer circumferential surface of the annular boss; the inner support arm rod is sleeved on the overturning shaft, is in clearance fit with the overturning shaft and can rotate relatively, and the inner support arm rod can move axially along the overturning shaft;
the shaft end choke iron provided with the outer swing arm rod is sleeved and fixed at the end part of the turnover shaft through the waist-shaped blind hole; one connecting end of the two connecting ends at the end parts of the crossed folding rods is hinged with the first connecting rod, and the other connecting end of the two connecting ends at the end parts of the crossed folding rods is hinged with the second connecting rod; the compression spring is arranged outside the inner support arm rod, one end of the compression spring is abutted against a spring baffle fixed on the turnover shaft, and the other end of the compression spring is abutted against an annular boss of the inner support arm rod;
when the axle end stop iron does not correspond to the waist-shaped hole of the inner support arm rod, namely the waist-shaped through hole of the outer swing arm rod does not coincide with the waist-shaped hole of the inner support arm rod, the inner support arm rod enables the end face where the waist-shaped hole of the inner support arm rod is located to be abutted against the end face where the waist-shaped blind hole of the axle end stop iron is located under the action of the compression spring, but the inner support arm rod is not sleeved on the axle end stop iron; when the outer swing arm rod rotates along with the shaft end stop iron and the overturning shaft, the inner support arm rod is driven to rotate around the axis of the overturning shaft, so that an included angle between a first connecting rod of the outer swing arm rod and a second connecting rod of the inner support arm rod is changed, and when the included angle reaches a limit position, the crossed folding rod is in a folding state;
when the shaft end iron resistor rotates along with the overturning shaft to correspond to the waist-shaped hole of the inner support arm rod, namely when the waist-shaped hole of the outer swing arm rod is overlapped with the waist-shaped hole of the inner support arm rod, the inner support arm rod is sleeved on the shaft end iron resistor through the waist-shaped hole under the action of the compression spring, and the inner support arm rod and the outer swing arm rod can synchronously rotate along with the overturning shaft; at this time, the first connecting rod of the outer swing arm rod and the second connecting rod of the inner support arm rod are overlapped, and the crossed folding rod is in an unfolded state.
Further, the limit position of the included angle is an obtuse angle.
Has the advantages that: (1) when the robot is carried, thrown and moved on the flat ground, the swing arm can be kept in a folded state and is not in direct contact with other objects, so that interference is avoided, and the damage of the swing arm is avoided; when the robot crosses obstacles such as stairs, steps, ruins and the like, the swing arm can be in an unfolded state, and the robot is supported to overturn and cross the obstacles by driving the swing arm to rotate.
(2) The foldable swing arm is adopted to replace the swing arm of the existing cantilever, so that the overall size of the robot is reduced, and the portability of the robot is improved.
(3) The swing arm of the invention can drive the swing arm in the unfolding state to rotate by taking the original turnover motor and the compression spring in the robot as power elements, does not need additional power and reduces the cost.
Drawings
FIG. 1 is an overall structural profile of the present invention;
FIG. 2 is a view showing the inner structure of the present invention;
FIG. 3 is a folded view of the swing arm;
FIG. 4 is a view showing the swing arm in an unfolded state;
FIG. 5 is an exploded view of the swing arm construction;
FIG. 6 is an exploded view of the swing arm in a folded state;
FIG. 7 is an exploded view of the swing arm between a folded position to an unfolded position;
FIG. 8 is an exploded view of the swing arm in the deployed state;
FIG. 9 is an exploded view of the swing arm in an expanded state;
FIG. 10 is a general block diagram of the swing arm of the present invention from a folded position to an unfolded position;
FIG. 11 is a general block diagram of the swing arm of the present invention in a deployed state;
the device comprises a wheel type moving platform 1, a swing arm 2, a cross folding rod 3, a shaft end iron resistance 4, a turnover shaft 5, an outer swing arm rod 6, an inner support arm rod 7, a compression spring 8, a spring baffle 9, a driving wheel 10, a driven wheel 11 and a turnover motor 12.
Detailed Description
The invention is described in detail below by way of example with reference to the accompanying drawings.
The present embodiment provides a convertible stair climbing robot with a foldable swing arm, see fig. 1 and 2, including: the device comprises a wheel type moving platform 1, a swing arm 2, a turnover shaft 5, a driving wheel 10, a driven wheel 11 and a turnover motor 12;
the wheel type mobile platform 1 is a main body structure of the robot, and four walking wheels are respectively installed at four corners of the wheel type mobile platform and used for realizing the walking of the robot;
the turning motor 12 is arranged in the wheel type moving platform 1, and an output shaft of the turning motor is coaxially fixed with a driving wheel 10;
the turnover shaft 5 is arranged on the wheel type moving platform 1, and the axis of the turnover shaft is parallel to the axis of the travelling wheel; a driven wheel 11 is coaxially fixed in the middle of the turnover shaft 5, and the driven wheel 11 is meshed with the driving wheel 10; the two ends of the turning shaft 5 are both processed into a waist-shaped column structure, namely, notches are processed at the two opposite ends of the outer circumferential surface of the end part of the turning shaft 5 to form planes, two swing arms 2 with the same structure are respectively installed at the two ends of the turning shaft, and the two swing arms 2 are respectively positioned at the two sides of the wheel type moving platform 1 along the walking direction;
referring to fig. 3-9, the swing arm 2 includes: the device comprises a cross folding rod 3, a shaft end blocking iron 4, an outer swing arm rod 6, an inner support arm rod 7, a compression spring 8 and a spring baffle 9;
the shaft end choke 4 is of a columnar structure with a waist-shaped cross section, one end of the shaft end choke is provided with a waist-shaped blind hole which is the same as the waist-shaped columnar structure of the turnover shaft 5, and the end surface of the other end of the shaft end choke extends out of an annular limiting table and is used for axially limiting an outer swing arm rod 6 arranged on the shaft end choke 4; the waist-shaped blind hole of the shaft end choke 4 is matched with the waist-shaped column structure at the end part of the turnover shaft 5;
the outer swing arm rod 6 consists of a circular ring and a first connecting rod which is integrally formed on the outer circumferential surface of the circular ring; the inner circumferential surface of the circular ring is provided with two opposite plane bosses, so that a waist-shaped through hole with the same shape as the shaft end choke 4 is formed in the inner hole of the circular ring; the outer swing arm rod 6 is sleeved on the shaft end choke iron 4 through the waist-shaped through hole; the waist-shaped through hole can limit the relative rotation between the outer swing arm rod 6 and the shaft end choke iron 4;
the inner support arm rod 7 consists of a cylinder and a second connecting rod integrally formed on the outer circumferential surface of the cylinder; one end of an inner hole of the cylinder is a round hole with the same diameter as the turning shaft 5, the other end of the inner hole is a waist-shaped hole with the same shape as the shaft end iron resistance 4, namely, the inner support arm rod 7 can be sleeved on the shaft end iron resistance 4 through the waist-shaped hole, a waist-shaped through hole of the outer swing arm rod 6 is the same shape as the waist-shaped hole of the inner support arm rod 7, the round hole is communicated with the waist-shaped hole, and the diameter of the round hole is smaller than that of a circle where the waist-shaped hole is located; an annular boss extends from the end face of the cylinder where the waist-shaped hole is located, and the second connecting rod is arranged on the outer circumferential surface of the annular boss; the inner support arm rod 7 is sleeved on the overturning shaft 5, is in clearance fit with the overturning shaft 5 and can rotate relatively, and the inner support arm rod 7 can move axially along the overturning shaft 5;
the shaft end choke iron 4 provided with the outer swing arm rod 6 is sleeved through a waist-shaped blind hole and fixed at the end part of the overturning shaft 5 through a screw; one connecting end of the two connecting ends at the end part of the cross folding rod 3 is hinged with the first connecting rod, and the other connecting end is hinged with the second connecting rod; the compression spring 8 is arranged outside the inner support arm rod 7, one end of the compression spring is abutted against a spring baffle plate 9 fixed on the turnover shaft 5, and the other end of the compression spring is abutted against an annular boss of the inner support arm rod 7;
when the shaft end iron resistance 4 does not correspond to the waist-shaped hole of the inner support arm rod 7, namely the waist-shaped through hole of the outer swing arm rod 6 does not coincide with the waist-shaped hole of the inner support arm rod 7, the inner support arm rod 7 moves towards the shaft end iron resistance 4 along the overturning shaft 5 under the action of the compression spring 8 until the end face where the waist-shaped hole of the inner support arm rod 7 is located butts against the end face where the waist-shaped blind hole of the shaft end iron resistance 4 is located, namely the inner support arm rod 7 cannot be sleeved on the shaft end iron resistance 4; when the outer swing arm rod 6 rotates along with the shaft end iron block 4 and the overturning shaft 5, the outer swing arm rod 6 is connected with the inner support arm rod 7 through the crossed folding rod 3, so that the inner support arm rod 7 can be driven to rotate around the axis of the overturning shaft 5, an included angle between a first connecting rod of the outer swing arm rod 6 and a second connecting rod of the inner support arm rod 7 is changed, when the included angle is 153 degrees, the included angle is the limit position of the included angle, and the crossed folding rod 3 is in a folded state;
when the shaft end iron resistance 4 rotates along with the overturning shaft 5 to correspond to the waist-shaped hole of the inner support arm rod 7, namely when the waist-shaped hole of the outer swing arm rod 6 is overlapped with the waist-shaped hole of the inner support arm rod 7, the inner support arm rod 7 moves towards the shaft end iron resistance 4 along the overturning shaft 5 under the action of the compression spring 8, so that the inner support arm rod 7 is sleeved on the shaft end iron resistance 4 through the waist-shaped hole of the inner support arm rod 7, and the inner support arm rod 7 and the outer swing arm rod 6 and the shaft end iron resistance 4 cannot rotate relative to each other with the shaft end iron resistance 4, so that the inner support arm rod 7 and the outer swing arm rod 6 can synchronously rotate along with the overturning shaft 5; at this time, the first connecting rod of the outer swing arm lever 6 and the second connecting rod of the inner support arm lever 7 are overlapped, the cross folding lever 3 is in the unfolded state, and the cross folding lever 3 in the unfolded state rotates along with the turning shaft 5.
The working principle is as follows: referring to the attached drawing 1, when the robot is in carrying, throwing and flat ground movement, the turning motor 12 is controlled to work, the turning shaft 5 is driven to rotate by the driving wheel 10 and the driven wheel 11 until the included angle between the first connecting rod of the outer swing arm rod 6 and the second connecting rod of the inner support arm rod 7 is the limit position, the swing arm 2 is in a folded state, the turning motor 12 does not work any more, so that the swing arm 2 keeps the folded state unchanged and is not in direct contact with other objects, and interference is avoided;
referring to the attached drawings 10-11, when the robot needs to climb over obstacles such as stairs, steps, ruins and the like, the turning motor 12 is controlled to work, the turning shaft 5 is driven to rotate reversely by the driving wheel 10 and the driven wheel 11 until the first connecting rod of the outer swing arm rod 6 is overlapped with the second connecting rod of the inner swing arm rod 7, and the swing arm 2 is in an unfolded state; the turnover motor 12 continues to work to drive the two swing arms 2 to synchronously rotate along with the turnover shaft 5, and when the two swing arms 2 are abutted to the ground, the two swing arms 2 drive the wheel type moving platform 1 to turn over by taking the contact point of the two swing arms 2 with the ground as a rotation center to complete the crossing of the barrier.
In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (2)
1. The utility model provides a convertible stair climbing robot with collapsible swing arm, its characterized in that includes: the device comprises a wheel type moving platform (1), a swing arm (2), a turnover shaft (5), a driving wheel (10), a driven wheel (11) and a turnover motor (12);
the turning motor (12) is arranged in the wheel type moving platform (1), and an output shaft of the turning motor is coaxially fixed with a driving wheel (10);
the turnover shaft (5) is arranged on the wheel type moving platform (1), a driven wheel (11) is coaxially fixed in the middle of the turnover shaft (5), and the driven wheel (11) is meshed with the driving wheel (10); two ends of the turnover shaft (5) are respectively provided with two swing arms (2) with the same structure, the two swing arms (2) are respectively positioned on two sides of the wheeled mobile platform (1) along the walking direction, and the swing arms (2) can be folded;
when the swing arm (2) is in a folded state, the swing arm is folded at two sides of the wheel type moving platform (1);
when the swing arms (2) are in an unfolded state, the swing arms (2) form a rod-shaped structure, the top ends of the two swing arms (2) are abutted against the ground under the action of the overturning motor (12), and the two swing arms (2) drive the wheel type moving platform (1) to overturn by taking the contact points of the two swing arms (2) and the ground as a rotating center;
the swing arm (2) comprises: the device comprises a cross folding rod (3), a shaft end blocking iron (4), an outer swing arm rod (6), an inner support arm rod (7), a compression spring (8) and a spring baffle (9);
both ends of the turnover shaft (5) are processed into waist-shaped column structures;
the shaft end blocking iron (4) is of a columnar structure with a waist-shaped cross section, a waist-shaped blind hole with the same waist-shaped columnar structure as the overturning shaft (5) is processed at one end of the shaft end blocking iron, and an annular limiting table extends out of the end face of the other end of the shaft end blocking iron and is used for axially limiting an outer swing arm rod (6) arranged on the shaft end blocking iron (4); the waist-shaped blind hole of the shaft end iron resistor (4) is matched with the waist-shaped column structure at the end part of the turnover shaft (5);
the outer swing arm rod (6) consists of a circular ring and a first connecting rod which is integrally formed on the outer circumferential surface of the circular ring; the inner circumferential surface of the circular ring is provided with two opposite plane bosses, so that a waist-shaped through hole with the same shape as the shaft end choke iron (4) is formed in the inner hole of the circular ring; the outer swing arm rod (6) is sleeved on the shaft end blocking iron (4) through the waist-shaped through hole;
the inner support arm rod (7) consists of a cylinder and a second connecting rod integrally formed on the outer circumferential surface of the cylinder; one end of an inner hole of the cylinder is a round hole with the same diameter as the turning shaft (5), the other end of the inner hole of the cylinder is a waist-shaped hole with the same shape as the shaft end choke (4), the round hole is communicated with the waist-shaped hole, and the diameter of the round hole is smaller than that of a circle where the waist-shaped hole is located; an annular boss extends from the end face of the cylinder where the waist-shaped hole is located, and the second connecting rod is arranged on the outer circumferential surface of the annular boss; the inner support arm rod (7) is sleeved on the overturning shaft (5) and is in clearance fit with the overturning shaft (5) and can rotate relatively, and the inner support arm rod (7) can move axially along the overturning shaft (5);
the shaft end blocking iron (4) provided with the outer swing arm rod (6) is sleeved and fixed at the end part of the overturning shaft (5) through a waist-shaped blind hole; one connecting end of the two connecting ends at the end part of the cross folding rod (3) is hinged with the first connecting rod, and the other connecting end is hinged with the second connecting rod; the compression spring (8) is arranged outside the inner support arm rod (7), one end of the compression spring is abutted against a spring baffle plate (9) fixed on the turnover shaft (5), and the other end of the compression spring is abutted against an annular boss of the inner support arm rod (7);
when the shaft end iron resistance (4) does not correspond to the waist-shaped hole of the inner support arm rod (7), namely the waist-shaped through hole of the outer swing arm rod (6) does not coincide with the waist-shaped hole of the inner support arm rod (7), the end face of the inner support arm rod (7) where the waist-shaped hole is located is abutted against the end face of the waist-shaped blind hole of the shaft end iron resistance (4) under the action of the compression spring (8), but the inner support arm rod (7) is not sleeved on the shaft end iron resistance (4); when the outer swing arm rod (6) rotates along with the shaft end stop iron (4) and the turnover shaft (5), the inner support arm rod (7) is driven to rotate around the axis of the turnover shaft (5), so that an included angle between a first connecting rod of the outer swing arm rod (6) and a second connecting rod of the inner support arm rod (7) is changed, and when the included angle reaches a limit position, the crossed folding rods (3) are in a folded state;
when the shaft end iron resistance (4) rotates along with the overturning shaft (5) to correspond to the waist-shaped hole of the inner support arm rod (7), namely the waist-shaped hole of the outer swing arm rod (6) is superposed with the waist-shaped hole of the inner support arm rod (7), the inner support arm rod (7) is sleeved on the shaft end iron resistance (4) through the waist-shaped hole of the inner support arm rod under the action of the compression spring (8), and the inner support arm rod (7) and the outer swing arm rod (6) can synchronously rotate along with the overturning shaft (5); at the moment, the first connecting rod of the outer swing arm rod (6) is superposed with the second connecting rod of the inner support arm rod (7), and the crossed folding rod (3) is in an unfolded state.
2. The convertible stair climbing robot with a foldable swing arm according to claim 1, wherein the extreme position of the included angle is an obtuse angle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811445798.5A CN109533051B (en) | 2018-11-29 | 2018-11-29 | Convertible stair climbing robot with collapsible swing arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811445798.5A CN109533051B (en) | 2018-11-29 | 2018-11-29 | Convertible stair climbing robot with collapsible swing arm |
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| Publication Number | Publication Date |
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| CN109533051A CN109533051A (en) | 2019-03-29 |
| CN109533051B true CN109533051B (en) | 2020-09-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811445798.5A Expired - Fee Related CN109533051B (en) | 2018-11-29 | 2018-11-29 | Convertible stair climbing robot with collapsible swing arm |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112249366A (en) * | 2020-09-18 | 2021-01-22 | 北京空间飞行器总体设计部 | Small foldable wheeled robot for planet detection |
| CN112841163B (en) * | 2021-01-26 | 2022-06-07 | 国网福建省电力有限公司 | Mouse catching robot for communication machine room |
| CN215253209U (en) * | 2021-01-29 | 2021-12-21 | 北京科勒有限公司 | Flexible supporting structure |
| CN116101399B (en) * | 2023-04-13 | 2023-06-20 | 深圳市亚博智能科技有限公司 | Intelligent six-foot robot |
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| US6263989B1 (en) * | 1998-03-27 | 2001-07-24 | Irobot Corporation | Robotic platform |
| CN101583530A (en) * | 2006-11-13 | 2009-11-18 | 雷神萨科斯公司 | Tracked robotic crawler having a moveable arm |
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| CN104647343A (en) * | 2015-03-13 | 2015-05-27 | 北京理工大学 | Micro-miniature overturning stair-climbing robot |
| CN107323560A (en) * | 2017-06-26 | 2017-11-07 | 徐州乐泰机电科技有限公司 | A kind of wheel leg type movable rescue robot |
| CN107323550A (en) * | 2017-06-15 | 2017-11-07 | 华南理工大学 | A kind of mechanical arm auxiliary is gone upstairs and across the mechanical device and method of complicated landform |
| CN108725625A (en) * | 2018-06-14 | 2018-11-02 | 武汉智伴科技有限公司 | Climb building obstacle detouring transport power carrier, control method, mobile terminal and storage medium |
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2018
- 2018-11-29 CN CN201811445798.5A patent/CN109533051B/en not_active Expired - Fee Related
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6263989B1 (en) * | 1998-03-27 | 2001-07-24 | Irobot Corporation | Robotic platform |
| CN101583530A (en) * | 2006-11-13 | 2009-11-18 | 雷神萨科斯公司 | Tracked robotic crawler having a moveable arm |
| CN102730097A (en) * | 2011-04-14 | 2012-10-17 | 牛晓蓉 | Multipurpose stair step-climbing motor vehicle |
| CN102581836A (en) * | 2012-02-29 | 2012-07-18 | 哈尔滨工程大学 | Mobile robot coordinately driven by multifunctional mechanical arms and wheels |
| CN104647343A (en) * | 2015-03-13 | 2015-05-27 | 北京理工大学 | Micro-miniature overturning stair-climbing robot |
| CN107323550A (en) * | 2017-06-15 | 2017-11-07 | 华南理工大学 | A kind of mechanical arm auxiliary is gone upstairs and across the mechanical device and method of complicated landform |
| CN107323560A (en) * | 2017-06-26 | 2017-11-07 | 徐州乐泰机电科技有限公司 | A kind of wheel leg type movable rescue robot |
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